Title :
Tracking multiple objects in 3D
Author :
Barreto, João P. ; Peixoto, Paulo ; Batista, Jorge ; Araujo, Helder
Author_Institution :
Dept. of Electr. Eng., Inst. Syst. & Robotics, Coimbra, Portugal
Abstract :
A system for tracking multiple targets in 3D is described. The system is made up of two pan-and-tilt units that are attached to the extremities of a rotating arm. This configuration has several advantages and can deal with several specific instances of tracking more than one target. A control strategy that guarantees equal target disparities in both images whenever targets are seen by both cameras is presented. This has advantages for segmentation and trajectory reconstruction. Target images are simultaneously visible in the cameras, enabling the recovery of the targets 3D trajectory. It is also shown that mutual occlusion occurs in a well-defined configuration and can therefore be dealt with
Keywords :
image motion analysis; image segmentation; target tracking; 3D tracking; mutual occlusion; pan-and-tilt units; rotating arm; segmentation; target disparities; trajectory reconstruction; Application software; Cameras; Computer vision; Extremities; Image segmentation; Motion segmentation; Robot vision systems; Surveillance; Target tracking; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.813006
